Monitoring system for an agricultural harvester and agricultural harvester

ABSTRACT

A combine harvester including an aft portion, a spreader assembly, a monitoring system, and a processing unit. The monitoring system including sensors coupled to the aft portion. The sensors: receiving a plurality of response waves reflected from a portion of the crop residue that is discharged from the spreader assembly toward a discharge area before the portion of crop residue arrives at the discharge area; and sending a response signal representative of the plurality of response waves reflected from the portion of the crop residue, the reflected waves comprising a sequence of multiple reflections distributed over time. The processing unit receiving the response signal from the plurality of sensors; and processing the response signal to determine a reflected energy distribution from the portion of the crop residue representative of a distribution of the crop residue over the discharge area substantially perpendicular to a travel direction of the combine harvester.

CROSS REFERENCE TO RELATED APPLICATION

This is a division of U.S. patent application Ser. No. 15/360,284,entitled “MONITORING SYSTEM FOR AN AGRICULTURAL HARVESTER ANDAGRICULTURAL HARVESTER”, filed Nov. 23, 2016, which is incorporatedherein by reference. Application Ser. No. 15/360,284 claims priority toBelgium Application No. 2015/5761 filed Nov. 24, 2015.

FIELD OF THE INVENTION

The invention relates to the field of agricultural harvesters such ascombines which including a threshing assembly for separating the variouscomponents of a harvested crop, e.g. grain and straw.

In particular, the invention relates to a monitoring system forassessing the quality of the distribution of chopped straw onto a field.

BACKGROUND OF THE INVENTION

An agricultural harvester, also referred to as a combine or combineharvester because it typically combines multiple harvesting functions,typically includes a header for removing a crop from a field and aso-called threshing tool for performing a threshing operation on thecrop in order to separate the grain from the non-grain material such asstraw and chaff. The non-grain material may also be referred to as theresidue. This residue, i.e. the chaff and straw is typically left on thefield. In general, the chaff is spread in the field over the width ofthe combine. With respect to the straw, typically two options exist.

In a first operating mode, referred to as “swath mode”, the straw isoutputted onto the field in a so-called swath, ready for a baler to pickit up.

In a second operating mode, referred to as “chopping mode”, the straw ischopped and outputted on the field where it serves as fertilizer for thesoil. The straw is therefore chopped fine to obtain an optimal rottingprocess such that it can be absorbed into the soil thereby setting freeminerals for subsequent crops.

In order to obtain an effective fertilization of the soil it isimportant that the chopped straw, in general the crop residue, issufficiently small and that the chopped straw is evenly, or uniformlydistributed over the field. As such, the crop residue should bedistributed over a width substantially corresponding to a width of theheader of the harvester that cuts the crop. In order to distribute orspread the crop residue, e.g. chopped straw, agricultural harvesters aretypically equipped with a spreader tool that is mounted at the back ofthe harvester. The spreading tool is configured to receive a flow ofchopped straw and deflect it to both the right hand sight and the lefthand sight of the harvester. It is known that the way the residue orchopped crop is affected by different parameters, e.g. including theelevation of the field, the wind direction and magnitude, the density ofthe chopped straw, etc.

In order to improve the distribution of the residue or chopped straw,monitoring systems have been suggested. Examples of such monitoringsystems include the use of a camera to picture the swath of choppedstraw leaving the harvester, or the use of wind vanes and/or windvelocity sensors. In another example, the use of a pair of ultrasonicsensors is suggested, the pair of ultrasonic sensors that are directedto the respective streams of chopped straw towards the left hand sideand the right hand side of the harvester.

None of these arrangements however enables to assess the distribution ofthe chopped straw over the entire width of the header of the harvester.Therefore, there is a need for an improved monitoring system forassessing the distribution of chopped straw as outputted onto a field.

SUMMARY OF THE INVENTION

It would be desirable to provide an agricultural harvester which enablesan assessment of the distribution of chopped straw or crop residue overthe entire width of a harvester's header in a more accurate manner.Therefore, the present invention provides, in an embodiment, in amonitoring system for a combine harvester having a header with a headerwidth for harvesting a crop, the monitoring system comprising:

a plurality of sensors configured to:

1. provide a plurality of measurement waves to a discharge area for cropresidue, the discharge area having a width substantially correspondingto the header width;

2. receive a plurality of response waves reflected from the dischargearea;

a processing unit comprising an input terminal configured to receive aresponse signal of the plurality of sensors, the response signalrepresentative of the plurality of response waves reflected from thedischarge area; the processing unit being configured to process theresponse signal and determine, based on the response signal, adistribution of a crop residue over the discharge area; the processingunit further comprising an output terminal configured to output adistribution signal representative of the distribution of the cropresidue over the discharge area.

The processing unit is also configured to determine, based on theresponse signal, a reflected energy distribution over the discharge areaand apply the reflected energy distribution to determine thedistribution of the crop residue over the discharge area, the reflectedwaves comprising a sequence of multiple reflections distributed overtime, the processing unit further being configured to determine a volumeof the distribution of the crop residue over the discharge area.Additionally, the processing unit is configured to determine, based onthe sequence of multiple reflections, a distribution of the crop residuein a direction substantially perpendicular to a longitudinal axisdefining the header width

In accordance with the present invention, the plurality of sensors areconfigured to provide a plurality of measurement waves to an area ofinterest, i.e. an area onto which a crop residue is to be distributed ordischarged. This area is further on also referred to as the dischargearea for the crop residue. The measurement waves as provided by thesensors may e.g. be acoustic pulses, ultrasonic pulses orelectromagnetic pulses or waves. In an embodiment, a sensor of theplurality of sensors may e.g. include a transmitter configured totransmit the measurement wave, e.g. an acoustic or ultrasonic wave, tothe discharge area and a receiver configured to receive a response wave,i.e. a reflected wave, from the discharge area.

In an embodiment, the sensors as applied in the monitoring systemaccording to the present invention may include a radar to emit radarwaves as the measurement waves and a plurality of antennas to receivethe reflected waves. Examples of such radars may include CW-radars(Continuous Waves) or FMCW-radars (Frequency Modulated ContinuousWaves).

The monitoring system according to the present invention, which may e.g.be mounted to a combine harvester for monitoring crop residue such aschopped straw, is configured to monitor a distribution of the cropresidue over a distribution area, whereby the area substantiallyspanning a width of a header of the harvester.

Typically, a combine harvester comprises a chopping assembly forchopping a residue of the harvested crop, e.g. straw, to an appropriatesize to be spread of the field and a spreading assembly or spreader, toprovide in an appropriate distribution of the crop residue that waschopped over the field. Typically, such a spreading assembly may beconfigured to separate a flow of crop residue as received from thechopping assembly into a first flow that is outputted to a left handside of the harvester and a second flow that is outputted on a righthand side of the harvester. It is however insufficient to merely monitorthe amount of crop residue in both flows thus ensuring thatsubstantially the same amount of crop residue is spread on both sides;in order to realize an effective fertilization of the field, thedistribution of the crop residue should be as uniform as possible overthe entire field. In order to realize this, the distribution of the cropresidue, as outputted by a spreader, should be monitored over an area ofinterest that spans the width of the header of the harvester.

In order to realize this, the monitoring system according to the presentinvention comprises a plurality of sensors configured to:

1. Provide a plurality of measurement waves to the discharge area forthe crop residue and

2. Receive a plurality of response waves reflected from the dischargearea.

In an embodiment of the present invention, a plurality of sensors, suchas ultrasonic sensors, is used to monitor the discharge area for thecrop residue, the area having a width substantially corresponding to thewidth of the harvester's header that cuts the crop. In accordance withthe present invention, the sensors are configured to provide, i.e. emit,a plurality of measurement waves to the discharge area, therebysubstantially covering the entire discharge area.

In an embodiment, the plurality of sensors comprises an array of sensorsthat are arranged along a substantially straight line, parallel to theheader and substantially spanning the header width. In such anarrangement, each of the sensors may monitor a sub area of the dischargearea by emitting a measurement wave, e.g. an ultrasonic pulse, to therespective sub area.

In another embodiment, one or more of the plurality of sensors areconfigured to rotate or swivel during operation. Alternatively, or inaddition, a revolving deflector may be applied in the path of themeasurement wave or waves of the sensors, thereby obtaining a fan-shapedscan of the discharge area or a part thereof. In such an arrangement, asingle sensor may cover or monitor multiple sub areas of the area ofinterest, i.e. the discharge area, by emitting, while rotating orswiveling, multiple measurement waves. In such an embodiment, themonitoring system may still cover or monitor the entire discharge areawith a limited number of sensors.

In accordance with the present invention, the plurality of sensors isfurther configured to receive a plurality of response waves reflectedfrom the discharge area.

In order to realize this, the sensors may, in an embodiment, eachcomprise a transmitter configured to transmit the measurement wave tothe area of interest, or a subarea thereof, and a receiver configured toreceive the response wave from the discharge area.

Alternatively, the number of transmitters need not be the same as thenumber of receivers. In an embodiment, the plurality of sensors appliedcomprise more receivers or receiving units than transmitter ortransmitting units. In such arrangement, the angle at which a reflectionhas occurs, may be assessed more accurately. In particular in case ofthe use of radar waves as the measurement waves, it may be advantageousto apply one or more emitters emitting, as a measurement wave, amodulated wave and an array of antennas, as receivers. By observing thephase difference between the signals as received, an angle of theincoming reflected wave can be determined.

The monitoring system according to the present invention furthercomprises a processing unit. Such a processing unit may e.g. comprise amicroprocessor or the like for performing mathematical operations onsignals that are received.

In accordance with the present invention, the processing unit of themonitoring system comprises an input terminal configured to receive aresponse signal of the plurality of sensors, the response signalrepresentative of the plurality of response waves reflected from thearea of interest. The input terminal may be a single input terminal or amultichannel input terminal. In the latter case, each sensor may beconnected to a different channel of the input terminal. The responsesignal as received at the input terminal may e.g. be an analogue voltagesignal, e.g. a voltage signal outputted by the sensor in response to thereceipt of a response wave.

In accordance with the present invention, the processing unit isconfigured to process the response signal and determine, based on theresponse signal, a distribution of a crop residue over the dischargearea, the area of interest substantially spanning the header width. Aswill be explained in more detail below, by analyzing the response waves,or signals representing the reflected waves, a processing unit maydetermine whether or not there is crop residue present (i.e. spread) ona particular location of the area of interest, i.e. the discharge area.As such, due to the fact that the discharge area that is covered by themeasurement waves substantially spans the entire width of the header,the crop residue distribution along the width of the header may bedetermined or estimated.

Based on the reflected waves, the processing unit may further, in anembodiment, assess the uniformity of the distribution of the cropresidue along the header width.

In an embodiment, the monitoring system is mounted to a combineharvester according to the present invention. In general, such aharvester comprises a header for harvesting a crop of a field, athreshing and chopping system for separating a crop residue from theharvested crop, a spreader assembly for spreading the crop residue ontothe field and a monitoring system according to the invention. As anexample, the harvester may be configured to harvest grain whereby thethreshing and chopping system is configured to separate the grain andchop the remaining straw, the chopped straw thus being considered thecrop residue. The use of the monitoring system according to the presentinvention on such a combine harvester enables to monitor thedistribution of the crop residue, as distributed by the spreaderassembly, along the width of the header of the harvester.

These and other aspects of the invention will be more readilyappreciated as the same becomes better understood by reference to thefollowing detailed description and considered in connection with theaccompanying drawings in which like reference symbols designate likeparts.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts a monitoring system mounted to a combine harvesteraccording to an embodiment of the present invention;

FIG. 2 schematically depicts a top view of a spreader assembly as can beapplied in a combine harvester according to the present invention and afirst embodiment of a monitoring system according to the presentinvention.

FIG. 3 schematically depicts a top view of a spreader assembly as can beapplied in a combine harvester according to the present invention and asecond embodiment of a monitoring system according to the presentinvention.

FIG. 4 schematically depicts a cross-sectional view of part of athreshing and chopping system and a spreader assembly as can be appliedin a combine harvester according to the present invention.

FIG. 5 schematically depicts various components of the spreader assemblyas shown in FIG. 4.

FIGS. 6a and 6b schematically illustrate the measurement principle asapplied in a monitoring system according to the present invention.

DETAILED DESCRIPTION OF EMBODIMENTS

FIG. 1 depicts, in a cross-sectional view, a combine harvester 1including a monitoring system 10 according to an embodiment of thepresent invention. The agricultural harvester 1 can e.g. be configuredto harvest grain as a crop, whereby chopped straw can be considered acrop residue. The harvester 1 as schematically shown in FIG. 1 comprisesa header 3 for harvesting a crop, a threshing and chopping system 2 forseparating the harvested crop (the flow of harvested crop beingindicated by the arrow 13) into crop that is e.g. gathered in an onboardtank (not shown) and crop residue, e.g. chopped straw. In the embodimentas shown, the threshing and chopping system comprises a threshingassembly 2.1 configured to separate the cut crop into a first stream orflow (indicated by the arrow 11), substantially composed of grain andchaff, and a second stream or flow (indicated by the arrow 12),substantially composed of straw. The second stream or flow 12 issubsequently processed by a chopping assembly 2.2 of the threshing andchopping system 2, thereby generating a flow of crop residue, e.g.chopped straw, that is distributed onto the field by a spreader assembly14. In the harvester according to the present invention, this cropresidue is monitored by a monitoring system 10 which is configured toprovide a distribution signal representative of the distribution of thecrop residue over a discharge area substantially spanning the width ofthe header 3 of the harvester 1. The width of the header 3 beingunderstood as the length of the header 3 in a direction perpendicular tothe cross-sectional view of FIG. 1. In order to realize this, themonitoring system 10 comprises a plurality of sensors, e.g. ultrasonicsensors 10.1, configured to provide a plurality of measurement waves tothe discharge area, the discharge area being the area onto which aspreader assembly 14 of the combine harvester 1 spreads or should spreadthe crop residue. Note that the sensors as applied in the monitoringsystem 10 may be mounted at different locations on the harvester 1. Thesensors 10.1 may e.g. be mounted on top of the spreader assembly 14, onboth sides of the rear portion of the harvester 1, or even on the header3. In case the crop residue (e.g. chopped straw) is spread onto thefield, the purpose is to realize a fertilization of the field. Thechopped crop is spread over the field where it decomposes such that itcan be absorbed into the soil thereby setting free minerals forsubsequent crops.

In order to obtain an optimal fertilization, a uniform distribution ofthe crop residue over the field is preferred. In order to assess themanner in which the crop residue is spread over the area of interest,the plurality of sensors 10.1 is further configured to receive aplurality of response waves reflected from the discharge area, inresponse to the plurality of measurement waves that were provided to thedischarge area. These response waves, or a signal representative thereofare provided to an input terminal of a processing unit of the monitoringsystem 10 and processed, as will be explained in more detail below.

Further, as schematically shown in FIG. 1, the first stream 11 ofharvested crop may e.g. be conveyed via a grain pan to a cleaningmechanism 4, e.g. including one or more sieves 5, 6, driven by a driveassembly 8. The fine material, e.g. grain, that is collected below thesieves is transported by means of an auger 7, e.g. to an elevator.

FIG. 2 schematically shows a top view of a spreader assembly as can beapplied in a combine harvester according to the present invention and anembodiment of a monitoring system according to the present invention.FIG. 2 schematically depicts a spreader assembly 200 (comparable to thespreader assembly 14 of FIG. 1) configured to receive a flow of cropresidue 210, e.g. from a chopping assembly such as chopping assembly 2.2as shown in FIG. 1, and spread the flow of crop residue. In theembodiment as shown, the spreader assembly 200 comprises two rotationalelements 220, rotating in the indicated directions 222, to guide theflow 210, and two deflectors 224 configured to receive the flow of cropresidue 210, deflect at least part of it and distribute the flow ontothe left hand side LHS, resp. right hand side RHS as indicated by thearrows 230, resp. 240. The left hand side LHS area and right hand sideRHS area are here defined relative to a longitudinal axis 250 of theharvester to which the spreader assembly 200 is mounted. By adjustingthe position of the deflectors 220, the distribution of the crop residueon the resp. LHS and RHS can be adjusted. Note that by appropriateshaping and positioning of the deflectors 224, part of the flow of cropresidue, indicated by the arrows 245, can be spread on the field behindthe spreader assembly 200.

The objective of the spreading of the crop residue flow 210 is to arriveat a substantially uniform distribution over an area of interest 260,i.e. the area onto which the crop residue is to be spread or discharged.This discharge area having an width substantially spanning the width Hwof the header of the harvester (not shown) to which the spreadingassembly 200 is mounted.

In order to assess the distribution of the crop residue over the area ofinterest 260, the present invention provides in a monitoring system.FIG. 2 schematically includes an embodiment of such a monitoring system,the monitoring system comprises a plurality of sensors 300.1-300.4, e.g.ultrasonic sensors that are configured to:

provide a plurality of measurement waves to the area of interest and;

receive a plurality of response waves reflected from the area ofinterest.

Typically, sensors that are configured to emit a measurement wave areconfigured to emit such wave in a particular direction or range. In theembodiment as shown, the sensors 300.1-300.4 are each configured, i.e.oriented, to emit a measurement wave such that it covers a particularsub area of the area of interest 260. In FIG. 2, the sub areas ontowhich the measurement waves emitted by the sensors 300.1-300.4 areprojected, are schematically indicated by reference numbers 300.5-300.8.In an embodiment, the plurality of sensors can be configured such thatthe sub areas 300.5-300.8 combined substantially cover the area ofinterest 260. Depending on the width of the discharge area, the widthcorresponding to the header width Hw, this may require one or moresensors on each side (LHS or RHS) of the harvester.

The plurality of sensors 300.1-300.4 are further configured to receive aplurality of response waves that are reflected from the area ofinterest. In particular, the sensors may be configured to receiveresponse waves that are reflected from the sub areas, e.g. sub areas300.5-300.8 to which they have emitted the measurement waves. In sucharrangement, each sensor may e.g. comprise a transmitter fortransmitting a measurement wave such as an ultrasonic pulse to the areaof interest, or a sub area thereof, and a receiver for receiving aresponse wave. In such embodiment, the transmitter and receiver may bearranged adjacent to each or may be somewhat separated from each other.Note however that the functionality of transmitting and receiving mayalso be combined. In such arrangement, the sensors may comprise atransceiver that can be operated in transmissive mode to emit ameasurement wave and in receiving mode to receive a response wave. Itcan further be noted that embodiments having a different number oftransmitters and receivers, may be considered as well.

In an embodiment, one or more radars are applied to emit the pluralityof measurement waves to the discharge area. As an example, a CW(Continuous Wave) radar may be applied to emit measurement waves to thedischarge area. Such a CW-radar enable to determine both the velocityand the direction of movement of the flow of crop residue that isdischarged. Such a CW-radar provides in a comparatively highsensitivity, is robust and suitable to be applied in dusty environmentssuch as occurring at the rear of a combine harvester. Typically, ameasurement wave as emitted by a radar sensor may span 60 degrees ormore. As an alternative to the use of a CW-radar, the use of an FMCW(Frequency Modulated Continuous Waves) radar may be worth mentioning. Inaddition to the assessment of the velocity and direction of the flow ofcrop residue, such an FMCW-radar also enables to determine a location ofthe flow of residue.

In an embodiment, a combination of a radar based monitoring system andan ultrasonic based monitoring system may be considered as well. In sucha system, a CW-radar may e.g. be applied to primarily determine thevelocity and direction of a flow of crop residue, whereas the ultrasonicsensor or sensors are applied to determine a position of the flow ofcrop residue.

In accordance with the present invention, the monitoring system furthercomprises a processing unit. The monitoring system as shown in FIG. 2comprises a processing unit 310 having an input terminal 320 to receivea response signal 330 representative of the plurality of response wavesreflected from the area of interest. Such a processing unit 310 can beembodied as a processor, a microprocessor, a computer or the like and ingeneral comprises a memory unit for storing data such as the responsesignal and a computational unit for processing the data received. Theresponse signal 330 can e.g. be provided to the processing unit 310 bymeans of a wired connection between the sensors 300.1-300.4 and theprocessing unit 310 or by means of a wireless connection.

In an embodiment, the processing unit 310 may also be configured tocontrol the plurality of sensors 300.1-300.4, in particular, theprocessing unit 310 may be configured to control at least one of atiming of the measurement pulses or waves, an amplitude of themeasurement pulses or waves or a frequency or frequency content of themeasurement pulses or waves.

In accordance with the present invention, the processing unit 310 isconfigured to process the response signal 330 and determine, based onthe response signal, a distribution of the crop residue over the area ofinterest 260. This processing will be explained in more detail below.

In accordance with the present invention, the processing unit 310further comprising an output terminal 340 configured to output adistribution signal 350 representative of the distribution of the cropresidue over the area of interest. Such a distribution signal may e.g.in the form of a graph or table specifying the distribution as afunction of the position along the header width Hw.

In an embodiment, the distribution signal is provided to a display unitthat is mounted in a cabine of the harvester, in order to provide avisual feedback of the distribution of the crop residue to the operatorof the harvester. Based on this feedback, the operator may then adjust,if needed, an operating parameter of the harvester, in particular of thespreader assembly of the harvester, to adjust the spreading of the cropresidue, thereby adjusting the distribution of the crop residue over thedischarge area 260.

In the embodiment shown in FIG. 2, a plurality of sensors 300.1-300.4are applied to monitor the discharge area, each sensor monitoring afixed sub area of the discharge area. Depending on the width Hw of thedischarge area to be covered, this may require a comparatively largeamount of sensors. In FIG. 3, an alternative embodiment is shown,whereby the sensors as used are configured to swivel during operation.As a result, a larger part of the discharge area can be covered by asensor, thus reducing the number of sensors required to substantiallycover the entire discharge area.

FIG. 3 schematically shows a top view of a spreader assembly as can beapplied in a combine harvester according to the present invention and anembodiment of a monitoring system according to the present invention.The spreader assembly 200 as shown is the same as the assembly shown inFIG. 2 and is configured to spread of crop residue 210 in a similarmanner as described above. The embodiment of the monitoring system asshown comprises two sensors 400.1, 400.2 that are configured torespectively monitor the left hand side LHS and the right hand side RHSof the discharge area 260. As schematically shown in FIG. 3, the sensors400.1 and 400.2 can cover, in the position as shown, sub areas 400.3 and400.4 of the discharge area 260 respectively. In the embodiment asshown, the sensors 400.1 and 400.2 are rotatable, as indicated by thearrows 410. In the embodiment as shown, the sensors may rotate about anaxis perpendicular to the XY-plane, i.e. about a vertical axis. By doingso, the measurement waves as emitted by the sensors may be sequentiallydirected to different sub areas of the discharge area, thus covering alarger portion of the discharge area. In an embodiment, the rotation orswivel movement of the sensors may be a substantially continuousmovement during which the sensor emits a sequence of measurement wavesand receives a plurality of response waves. Alternatively, the sensorsmay conduct a stepwise movement to cover different sub areas of thedischarge area.

In an embodiment, the first sensor 400.1 is configured to substantiallycover, by means of the swivel movement, the left hand side area (LHS) ofthe discharge area 260, whereas the second sensor 400.2 is configured tosubstantially cover, by means of the swivel movement, the right handside area (RHS) of the discharge area 260.

The processing of the response waves as received by the sensors 400.1and 400.2 may be provided, in a similar manner as described above, to aprocessing unit 310.

Note that, depending on the mounting position of the sensors relative tothe discharge area, the required rotational movement of the sensors tocover the discharge area may be determined. In case the sensors are e.g.mounted above the discharge area, a rotation about the Y-axis may e.g.be performed to cover a desired part of the discharge area by a sensor.

As an alternative to, or in addition to, a rotational movement to covera desired part of the discharge area by a sensor, the sensor may also beconfigured to be translated. In order to realise this, the sensor maye.g. be configured to translate along a rail, e.g. a rail extending inthe X-direction.

In order to rotate or translate the sensors as applied in an embodimentof the monitoring system according to the present invention, one or moreactuators may be applied. Such actuators may e.g. includeelectromagnetic, hydraulic or pneumatic actuators.

FIGS. 4 and 5 show a more detailed view on a spreader assembly as can beapplied in a combine harvester according to the present invention.

FIG. 4 schematically depicts a cross-sectional view of part of athreshing and chopping system and a spreader assembly as can be appliedin a combine harvester according to the present invention. FIG. 4schematically depicts a chopping tool 500 comprising a plurality ofblades 510, the chopping tool 500 being configured to receive a flow ofstraw 520, chop the straw to obtain crop residue and provide the flow ofcrop residue, indicated by the arrow 530, to a spreader assembly 550,the spreader assembly 550 being configured to spread the crop residueonto the field, as described above.

FIG. 5 schematically shows various components of the spreader assembly550 as indicated in FIG. 4. The spreader assembly 550 as shown comprisesa pair of rotatable elements 600 (comparable to the rotatable elements220 as shown in FIGS. 2 and 3) that are configured to receive a flow ofcrop residue, and a pair of deflectors 610 (comparable to the deflectors224 as shown in FIGS. 2 and 3) for distributing the flow of crop residueover a discharge area, in particular a discharge area spanning a widthof a header of the combine harvester to which the spreader assembly ismounted.

In order to control the actual distribution of the crop residue, aposition of the deflectors 610 may be adjustable. In an embodiment, thedeflectors may be configured to rotate about a vertical axis, therebyadjusting the distribution of the crop residue on either the left handside or the right hand side of the spreader assembly.

In an embodiment, the deflector 610 may be configured to displace alonga vertical axis to adjust the distribution of the crop residue.

In an embodiment, a rotational speed of the rotatable elements 600 canbe made adjustable. In such embodiment, the rotatable elements 600 maye.g. be configured to rotate at the same variable speed, or eachrotatable element may be controlled individually.

By means of the aforementioned ways to adjust the operation of thespreader assembly 550, the distribution of the crop residue can becontrolled, in order to take account of different or varying harvestingconditions. The distribution of the crop residue, in particular theuniformity over the header width thereof, may be adversely affected bythe harvesting conditions, e.g. the conditions of the field that isharvested, or the weather conditions.

In case the field that is harvested is tilted, this will affect how thecrop residue is spread. Similarly, in case of wind or rain, thedistribution of the crop residue may be affected.

By means of the monitoring system according to the present invention, inparticular by means of the processing of a signal representative of aplurality of response waves by the processing unit of the monitoringsystem, a distribution signal is made available, the distribution signalbeing representative of the distribution of the crop residue over thedischarge area. The distribution signal may subsequently be used tocontrol an operational parameter of the combine harvester, in particularof the spreader assembly of the combine harvester.

As an example, in case the distribution signal indicates that thedistribution of the crop residue is not as desired along the dischargearea, a position of one or both of the deflectors 610 of the spreaderassembly 550 as shown in FIG. 5 can be adjusted, in order to adjust thedistribution of the crop residue.

In an embodiment, the control of the spreader assembly is performed byan operator of the harvester. In such embodiment, the distributionsignal as provided by the processing unit of the monitoring system maye.g. be provided to a display unit of the combine.

In an embodiment, the control of the spreader assembly can be automated.In such embodiment, the processing unit may be configured to determine,based on the distribution of the crop residue as determined, anappropriate control signal for controlling an operation of the spreaderassembly.

In FIGS. 6a and 6b , the measurement principle as applied in themonitoring system according to the present invention is schematicallyshown. FIG. 6a schematically shows a cross-sectional view along thedriving direction X of a sensor 600.1 as can be applied in a monitoringsystem according to the invention, the sensor 600.1 being configured toprovide a measurement wave 605 to a discharge area 610 on a field 620onto which a flow of crop residue 615 is discharged. In an embodiment,the sensor 600.1 is configured to transmit an ultrasonic pulse towardsthe discharge area or a subarea thereof and receive one or reflectedpulses of the crop residue 615 that is discharged on the discharge area610.

FIG. 6b schematically depicts an intensity level Int of a transmittedpulse T and a subsequent response comprising reflected pulses A, B, andC. In FIG. 6a , the locations A, B, and C are used to indicate thepositions from which the respective reflected pulses originate.

In an embodiment, the functionality of a transmitter and a receiver asapplied in a sensor such as an ultrasonic sensor 600.1 may be combinedin a so-called transceiver which may both be configured to transmit apulse and to pick-up or receive any reflected pulses in response to thetransmitted pulse.

Depending on the size and structure of the discharged crop residue 615,e.g. chopped straw, multiple reflected pulses may be observed, e.g. by areceiver of the sensor 600.1. Since reflected pulse A is the first pulseto be received by the receiver, one can assume the location from whichreflected pulse A originates to be the closest to the receiver of thesensor 600.1. As such, reflected pulse A can be assumed to originatefrom the top surface of the layer of crop residue, as indicated in FIG.6a . Note that, as explained below, the origin of the reflected pulsesmay depend on the position and orientation of the sensors as applied. Incase the sensors are positioned at a comparatively low position, e.g.close to the field as schematically indicated by position of sensor 650,and configured to emit measurement waves in a horizontal plane,additional reflections may occur due to stalks that are present on thefield. As can be seen in the intensity level graph of FIG. 6b ,reflected pulse C is the last pulse to be received by the receiver. Assuch, it can be assumed that this pulse represents a reflection on thefield 620. In accordance with the present invention, the sensor 600.1 isconfigured to output a signal 630 representative of the response wave,e.g. the received reflected pulses and provide this signal to aprocessing unit 310, e.g. a processing unit 310 as shown in FIGS. 2 and3.

As explained with reference to FIGS. 2 and 3, such a processing unit 310as applied in a monitoring system according to the present invention isconfigured to receive a response signal of the plurality of sensors,e.g. at an input terminal 320 of the processing unit 310, the responsesignal representative of the plurality of response waves reflected fromthe discharge area; the processing unit being configured to process theresponse signal and determine, based on the response signal, adistribution of the crop residue over the discharge area; the processingunit 310 further comprises an output terminal 340, configured to outputa distribution signal 350 representative of the distribution of the cropresidue 615 over the discharge area 610.

Based on the reflected pulses as e.g. received by the sensor 600.1, inparticular the timing of the pulses (e.g. pulses A, B and C as shown inFIG. 6b and the period T_meas between the receipt of the first pulse Aand the last pulse C), the processing unit 310 may determine certaincharacteristics of the discharged crop residue, e.g. a layer thicknessor a density of the discharged crop residue 615. As such, in anembodiment, the uniformity of the distribution of the crop residue overthe discharge area may be determined and applied as input to control anoperation of the spreading assembly of the combine harvester to whichthe monitoring system is mounted.

In FIG. 6a , two alternative positions 650, 655 of a sensor of themonitoring system are shown. As can be seen, the sensors of themonitoring system according to the present invention may be oriented toemit a measurement wave 650.1, 655.1 in various directions, ranging froma substantially horizontal direction in position 650 to a verticalposition in position 655. As will be understood, the received reflectedmeasurement waves and their processing by the processing unit may varydepending on the applied orientation. In an embodiment, a combination ofsensors having different orientations relative to the discharge area maybe applied. In an embodiment, the sensors as applied in the monitoringsystem according to the present invention are configured to monitor theflow of crop residue before the crop residue touches the field, i.e. theflow of crop residue is monitored during the flight. In such embodiment,the processing unit may be configured to determine, based on thereflected signals as received, the position on the discharge area wherethe crop residue will land on the field. In an embodiment, the pluralityof sensors is configured to provide in reflected measurement wavesoriginating from different positions of the flow of crop residue asemitted by the spreader assembly. In such an arrangement, the processingunit may be configured to determine, for the different positions, thedensity and velocity of the flow of crop residue, by processing thereflected measurement pulses or waves. By doing so, an assessment of thedistribution of the crop residue over the discharge area can be made.

As required, detailed embodiments of the present invention are disclosedherein; however, it is to be understood that the disclosed embodimentsare merely exemplary of the invention, which can be embodied in variousforms. Therefore, specific structural and functional details disclosedherein are not to be interpreted as limiting, but merely as a basis forthe claims and as a representative basis for teaching one skilled in theart to variously employ the present invention in virtually anyappropriately detailed structure. Further, the terms and phrases usedherein are not intended to be limiting, but rather, to provide anunderstandable description of the invention.

The terms “a” or “an”, as used herein, are defined as one or more thanone. The term plurality, as used herein, is defined as two or more thantwo. The term another, as used herein, is defined as at least a secondor more. The terms including and/or having, as used herein, are definedas comprising (i.e., open language, not excluding other elements orsteps). Any reference signs in the claims should not be construed aslimiting the scope of the claims or the invention.

The mere fact that certain measures are recited in mutually differentdependent claims does not indicate that a combination of these measurescannot be used to advantage.

The term coupled, as used herein, is defined as connected, although notnecessarily directly, and not necessarily mechanically.

A single processor or control unit may fulfil the functions of severalitems recited in the claims.

The invention claimed is:
 1. A combine harvester comprising: an aftportion; a threshing and chopping system for separating a crop residuefrom the harvested crop; a spreader assembly for discharging onto thefield the crop residue received from the threshing and chopping system;and a monitoring system comprising: a plurality of sensors coupled tothe aft portion of the combine harvester, the plurality of sensors:receiving a plurality of response waves reflected from a portion of thecrop residue that is discharged from the spreader assembly toward adischarge area before the portion of crop residue arrives at thedischarge area, the discharge area being aft of the aft portion; andsending a response signal representative of the plurality of responsewaves reflected from the portion of the crop residue, the reflectedwaves comprising a sequence of multiple reflections distributed overtime; and a processing unit in communication with the plurality ofsensors, the processing unit executing steps of: receiving the responsesignal from the plurality of sensors; and processing the response signalto determine a reflected energy distribution from the portion of thecrop residue representative of a distribution of the crop residue overthe discharge area in a direction substantially perpendicular to atravel direction of the combine harvester.
 2. The combine harvester ofclaim 1, wherein the processing unit further executes a step ofadjusting an element of the spreader assembly to thereby change thedistribution of the crop residue in the discharge area dependent uponthe reflected energy distribution.
 3. The combine harvester of claim 1,wherein the sensors provide a plurality of measurement waves toward theportion of the crop residue that is discharged from the spreaderassembly, at least a portion of the measurement waves being reflectedfrom the portion of the crop residue as the response waves.
 4. Thecombine harvester of claim 1, wherein the plurality of sensors arearranged along a substantially straight line along the aft portion. 5.The combine harvester of claim 1, wherein the plurality of sensors aredirected toward subareas of the discharge area.
 6. The combine harvesterof claim 1, wherein the plurality of sensors comprise a first sensor tomonitor a left-hand side of the discharge area and a second sensor tomonitor a right-hand side of the discharge area.
 7. The combineharvester of claim 6, wherein the first and second sensors rotate duringoperation, to cover the respective left-hand side and the right-handside of the discharge area.
 8. The combine harvester of claim 1, whereinthe processing unit further executes a step of determining, based on theresponse signal, a density of a flow of the crop residue at a locationin the discharge area.
 9. The combine harvester of claim 1, wherein theprocessing unit further executes steps of: determining, based on theresponse signal, a total reflected energy of one or more of the responsewaves; and determining, based on the total reflected energy, thedistribution of the crop residue over the discharge area.
 10. Thecombine harvester of claim 1, wherein the processing unit furtherexecutes a step of assessing a uniformity of the distribution of thecrop residue over the discharge area.
 11. The combine harvester of claim3, wherein the plurality of sensors are radar sensors, each including: atransmitter configured to transmit a respective one of the plurality ofmeasurement waves toward the crop residue that is discharged from thespreader assembly; and a receiver configured to receive a respective oneof the plurality of response waves from the portion of the crop residue.12. A combine harvester comprising: an aft portion; a threshing andchopping system for separating a crop residue from the harvested crop; aspreader assembly for discharging onto the field the crop residuereceived from the threshing and chopping system; and a monitoring systemhaving a plurality of sensors coupled to the aft portion of the combineharvester, the monitoring system configured to execute steps of:receiving a plurality of response waves reflected from a portion of thecrop residue that is discharged from the spreader assembly toward adischarge area before the portion of crop residue arrives at thedischarge area, the discharge area being aft of the aft portion; sendinga response signal representative of the plurality of response wavesreflected from the portion of the crop residue, the reflected wavescomprising a sequence of multiple reflections distributed over time;receiving the response signal from the plurality of sensors; andprocessing the response signal to determine a reflected energydistribution from the portion of the crop residue representative of thedistribution of the crop residue over the discharge area in a directionsubstantially perpendicular to a travel direction of the combine. 13.The combine harvester of claim 12, wherein the monitoring system furtherexecutes a step of adjusting an element of the spreader assembly tothereby change the distribution of the crop residue in the dischargearea dependent upon the reflected energy distribution.
 14. The combineharvester of claim 12, wherein the plurality of sensors provide aplurality of measurement waves toward the portion of the crop residuethat is discharged from the spreader assembly, at least a portion of themeasurement waves being reflected from the portion of the crop residueas the response waves.
 15. The combine harvester of claim 12, whereinthe plurality of sensors are arranged along a substantially straightline along the aft portion.
 16. The combine harvester of claim 12,wherein the plurality of sensors comprise a first sensor to monitor aleft-hand side of the discharge area and a second sensor to monitor aright-hand side of the discharge area.
 17. The combine harvester ofclaim 16, wherein the first and second sensors rotate during operation,to cover the respective left-hand side and the right-hand side of thedischarge area.
 18. The combine harvester of claim 14, wherein theplurality of sensors are radar sensors, each including: a transmitterconfigured to transmit a respective one of the plurality of measurementwaves toward the crop residue that is discharged from the spreaderassembly; and a receiver configured to receive a respective one of theplurality of response waves from the portion of the crop residue. 19.The monitoring system of claim 18, wherein the radar sensors are a CW ora FMCW radar.
 20. A combine harvester comprising: an aft portion; aheader for harvesting a crop of a field, the header having a headerwidth; a threshing and chopping system for separating a crop residuefrom the harvested crop received from the header; a spreader assemblyfor discharging onto the field the crop residue received from thethreshing and chopping system; and a monitoring system comprising: aplurality of sensors coupled to the aft portion, the plurality ofsensors: providing a plurality of measurement waves toward the cropresidue discharged by the spreader assembly toward a discharge area forthe crop residue, the discharge area being an area of ground aft of thespreader having a width approximately the same as the header width;receiving a plurality of response waves reflected from a portion of thecrop residue that is discharged toward the discharge area before theportion of crop residue arrives at the discharge area; and sending aresponse signal representative of the plurality of response wavesreflected from the portion of the crop residue; and a processing unitexecuting steps of: receiving the response signal; processing theresponse signal to determine a distribution of the crop residue over thedischarge area; and altering the distribution of the crop residue byadjusting an element of the spreader assembly dependent upon theresponse signal.
 21. The combine harvester of claim 20, wherein theelement of the spreader assembly is a deflector that alters thedistribution of the crop residue by a movement of the deflector.
 22. Thecombine harvester of claim 20, wherein the processing the responsesignal step includes determining, based on the response signal, adensity of a flow of the crop residue at a location in the dischargearea.
 23. The combine harvester of claim 1, wherein the processing theresponse signal step includes determining a reflected energydistribution from the portion of the crop residue representative of thedistribution of the crop residue over the discharge area before the cropresidue touches the field.
 24. The combine harvester of claim 12,wherein the processing the response signal step includes determining thereflected energy distribution from the portion of the crop residuerepresentative of the distribution of the crop residue over thedischarge area where the crop residue will land on the field.